/*!
  @file feature_matcher.cpp
  @brief Brief description
  @author Kyohei Otsu <kyohei@kth.se>
  @date 2013
*/

#include <ros/ros.h>

namespace vo
{

//! class description 
/*! This is a detailed description of the class */
class FeatureMatcher {
 private:
  //! ROS node handler
  ros::NodeHandle nh_;
  //! ROS node handler in the private namespace
  ros::NodeHandle private_nh_;
  //!
  message_filters::Subscriber<mmo_mo::FeaturePoint> f1_sub_;
  message_filters::Subscriber<mmo_mo::FeaturePoint> f2_sub_;

 protected:

 public:
  //! Constructor
  FeatureMatcher(ros::NodeHandle &nh) : nh_(nh), private_nh_("~"),
      f1_sub_(nh, nh.resolveName("feature1_in"), 10),
      f2_sub_(nh, nh.resolveName("feature2_in"), 10)
  {
    // initializing pub/sub, server

    // initializing optional parameters
    // e.g.) private_nh_.param<TYPE>("PARAM_NAME", PARAM_VAR, DEFAULT_VALUE);
  }

  //! Destructor
  ~FeatureMatcher()
  {
  }
};

} // end of namespace

int main(int ac, char **av)
{
  ros::init(ac, av, "FeatureMatcher");
  ros::NodeHandle nh;
  vo::FeatureMatcher handler(nh);
  ros::spin();
  return 0;
}

